CN201493852U - Overhead cable climbing robot clamping mechanism - Google Patents

Overhead cable climbing robot clamping mechanism Download PDF

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Publication number
CN201493852U
CN201493852U CN2009202305973U CN200920230597U CN201493852U CN 201493852 U CN201493852 U CN 201493852U CN 2009202305973 U CN2009202305973 U CN 2009202305973U CN 200920230597 U CN200920230597 U CN 200920230597U CN 201493852 U CN201493852 U CN 201493852U
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CN
China
Prior art keywords
clamping device
hydraulic cylinder
connecting rod
push rod
driving hydraulic
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CN2009202305973U
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Chinese (zh)
Inventor
王鲁单
程胜
张建伟
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Kunshan Industrial Technology Research Institute Co Ltd
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Kunshan Industrial Technology Research Institute Co Ltd
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Priority to CN2009202305973U priority Critical patent/CN201493852U/en
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Publication of CN201493852U publication Critical patent/CN201493852U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model relates to an overhead cable climbing robot clamping mechanism which is characterized in that a left clamping mechanism and a right clamping mechanism have the same structure and respectively comprises a driving hydraulic cylinder and a piston rod, and a left clamp or a right clamp, wherein a left driving connecting rod is hinged on the driving hydraulic cylinder, a right driving connecting rod is hinged on the piston rod, the other end of the left driving connecting rod and the other end of the right driving connecting rod are respectively fixedly connected to a left gear wheel and a right gear wheel which are meshed mutually, a left clamping connecting rod and a right clamping connecting rod are respectively and fixedly connected on the left gear wheel and the right gear wheel, and the left clamp and the right clamp are respectively hinged at the tail ends of the left clamping connecting rod and the right clamping connecting rod and respectively connected on the left clamping connecting rod and the right clamping connecting rod through a clamp fixing spring; a motive power generating device is respectively connected with pusher-free chambers of the driving hydraulic cylinders of the left clamping mechanism and the right clamping mechanism, and pusher chambers of the left clamping mechanism and the right clamping mechanism are communicated. The utility model has compact structure, saved driving motor, simple control and low energy consumption.

Description

Trolley wire climbing robot clamping device
Technical field
The utility model relates to a kind of robot mechanism, specifically relates to a kind of being used for along the clamping device of the robot of aerial cable walking and obstacle detouring, genus Robotics field.
Background technology
The mode of manual inspection is substantially still adopted in the operation maintenance work of aerial high-voltage power transmission line at present, and work difficulty is big, and dangerous high, the amount of labour is big.If use transmission line polling robot to patrol and examine circuit, then can reduce the high-tension line operation and maintenance cost, improve and patrol and examine operating efficiency, guarantee the line upkeep quality.
Documents and materials show, the double-arm structure of the many employings of current aerial cable mobile robot, the mode that adopts both arms to replace off-line, hanging wire when running into obstacle detouring realizes crossing over, therefore the process of leaping over obstacles can be divided into single armed holding state and both arms holding state, must be robot is fixing on the line when at the single armed holding state by the clamping device on the single armed.Present clamping device structure more complicated, the drive unit of clamping device is installed on the clamping device, makes the useful space of clamping device diminish, and design difficulty strengthens, and has strengthened and drive required power, causes bulky simultaneously.On each clamping device, all drive unit need be set, improve cost, and make the control difficulty of clamping device strengthen; Two drive units drive respectively, have also increased the control step.These characteristics has also limited the scope of application of robot, has reduced operating efficiency.Therefore develop compact conformation, control the important process that simple clamping device becomes walking of development of practical cable and barrier-surpassing robot.
The utility model content
Shortcomings such as existing trolley wire climbing robot clamp structure complexity, efficient are low in order to overcome, bad adaptability, the purpose of this utility model be to provide a kind of compact conformation, energy consumption low, can rapid and reliable clamping and the trolley wire climbing robot clamping device of release, can assist cable to climb up by holding on to robot and be implemented in reliably walking on the aerial cable.
In order to achieve the above object, the technical scheme that the utility model adopted is:
A kind of trolley wire climbing robot clamping device, comprise left clamping device, right clamping device and power generating apparatus, it is characterized in that described left clamping device is identical with right clamping device structure, comprise the driving hydraulic cylinder respectively, piston rod and left anchor clamps, right anchor clamps, left side drive link is hinged on and drives on the hydraulic cylinder, right drive link is hinged on the piston rod, the other end of left side drive link and right drive link is connected in respectively on left gear and the right gear, left gear and right gear are meshed, on left gear and right gear, also be fixed with a left side respectively and clamp connecting rod and the right connecting rod that clamps, left side anchor clamps and right anchor clamps are hinged on left side clamping connecting rod and the right end that clamps connecting rod respectively, and are connected left side clamping connecting rod and right the clamping on the connecting rod by the anchor clamps fixing spring respectively; Described power generating apparatus connects the no push rod chamber of driving hydraulic cylinder of the left and right clamping device of left clamping device respectively, and the push rod chamber of the driving hydraulic cylinder of left and right clamping device is connected.
Aforesaid trolley wire climbing robot clamping device, it is characterized in that described power generating apparatus comprises servomotor assembly, leading screw, screw, push rod, left power hydraulic cylinder, left piston, right power hydraulic cylinder and right piston, the output shaft of servomotor assembly is connected with leading screw, nut sleeve is on leading screw, cooperate with leading screw, push rod is connected on the screw, and the two ends of push rod connect be connected left piston and right piston respectively; Left and right dynamicliquid pressure cylinder structure is identical, fixing between the mutual alignment, axis coinciding, the cylinder body direction is relative, the no push rod chamber of left side power hydraulic cylinder links to each other with the no push rod chamber of the driving hydraulic cylinder of left clamping device, and the no push rod chamber of right power hydraulic cylinder links to each other with the no push rod chamber of the driving hydraulic cylinder of right clamping device.
Aforesaid trolley wire climbing robot clamping device, it is characterized in that described power generating apparatus comprises servomotor assembly, two-way constant displacement pump, the output shaft of servomotor assembly connects two-way constant displacement pump, and two outlets of two-way constant displacement pump connect the no push rod chamber of the driving hydraulic cylinder of left and right clamping device respectively.
Aforesaid trolley wire climbing robot clamping device is characterized in that being provided with pressure sensor on the driving hydraulic cylinder of described left and right clamping device, and pressure sensor is connected with control system.
The utility model has the advantages that:
1, compact conformation: the utility model adopts electric liquid combination drive mode to realize that the rotation with motor is converted into the clamping of clamping device, unclamps motion, and drive units such as motor must not be fixed on the clamping device, save cable and climbed up by holding on to the space of robot arm end, for providing the space in other mechanisms of hand design and installation, reduced the design difficulty of entire machine robot system, and adopted hydraulic oil to have exert oneself big, advantages of simple structure and simple as the medium of power transmission.
2, save cost: the utility model only must can drive 2 clamping devices by a servomotor, has saved cost with respect to the scheme of a clamping device of a driven by servomotor, has reduced the control difficulty of system.
3, clamping efficient height: cable climbs up by holding on to that two clamping devices need replace clamping and release in the robot ambulation process, the utility model adopts 2 clamping device integration designs, realized that a clamping device another clamping device when clamp position is in release conditions, reduce the control step, improved the sport efficiency of system.
4, the utility model applied range can be applied to the various environment that need clamping after doing corresponding improvement.
Description of drawings
The structural representation of the embodiment 1 of Fig. 1 trolley wire climbing robot clamping device of the present utility model;
Structural representation when Fig. 2 is the left clamping device clamping of the utility model embodiment 1, the release of right clamping device;
Structural representation when Fig. 3 is positioned at meta for the left and right clamping device of the utility model embodiment 1;
Fig. 4 is that the left clamping device of the utility model embodiment 1 discharges, right clamping device clamping schematic diagram;
Fig. 5 is the structural representation that adds sensor on driving hydraulic cylinder of the present utility model;
Fig. 6 is the structural representation of the utility model embodiment 2.
The specific embodiment
Below by embodiment and accompanying drawing the technical solution of the utility model is described in further details.
Embodiment 1:
The structural representation of the embodiment 1 of Fig. 1 trolley wire climbing robot clamping device of the present utility model; Structural representation when Fig. 2 is the left clamping device clamping of the utility model embodiment 1, the release of right clamping device.
As shown in Figure 1, 2, trolley wire climbing robot clamping device of the present utility model comprises left clamping device 1, power generating apparatus 2, right clamping device 3.Wherein: power generating apparatus 2 comprises servomotor assembly 6, leading screw 7, screw 8, push rod 9, left power hydraulic cylinder 5, left piston 4, right power hydraulic cylinder 11, right piston 10.Wherein: the output shaft of servomotor assembly 6 and leading screw 7 link together, and screw 8 is enclosed within motion on the leading screw 7, cooperates with leading screw 7.Screw 8 is fixed together by push rod 9 and left piston 4, right piston 10, and left power hydraulic cylinder 5 is identical with right power hydraulic cylinder 11 structures, fixed-site each other, and axis coinciding, the cylinder body direction is relative.Wherein said left clamping device 1 is identical with right clamping device 3 structures, each clamping device comprises driving hydraulic cylinder 13, piston rod 12, right drive link 24, right gear 23, the right connecting rod 22 that clamps, right anchor clamps 21, right anchor clamps fixing spring 20, left side anchor clamps 18, left side anchor clamps fixing spring 17, a left side clamps connecting rod 16, left gear 15, left side drive link 14, it is hinged with left drive link 14 wherein to drive hydraulic cylinder 13, piston rod 12 and right drive link 24 are hinged, left side drive link 14 is connected in respectively on left gear 15 and the right gear 23 with right drive link 24, left gear 15 is measure-alike with right gear 23, be meshing with each other, a left side clamps connecting rod 16 and is connected in respectively on left gear 15 and the right gear 23 with the right connecting rod 22 that clamps, left side anchor clamps 18 are hinged on the end that a left side clamps connecting rod 16, and are connected on the left side clamping connecting rod 16 by left anchor clamps fixing spring 17 elasticity; Right anchor clamps 21 are hinged on the right end that clamps connecting rod 22, and are connected right the clamping on the connecting rod 22 by right anchor clamps fixing spring 20 elasticity.The no push rod chamber of power generating apparatus 2 left power hydraulic cylinders 5 and right power hydraulic cylinder 11 is connected the no push rod chamber of the driving hydraulic cylinder of the driving hydraulic cylinder of left clamping device and right clamping device respectively, and the push rod chamber of the driving hydraulic cylinder of left and right clamping device is connected.
The course of work of the present utility model is:
As Fig. 1, shown in 2: the variation of the corner of servomotor assembly 6 is by leading screw 7, screw 8 is converted into the straight-line displacement of push rod 9, a thereby control left side, right power hydraulic cylinder 5, volume in 11 chambeies, when the corner variation of servomotor assembly 6 makes screw 8 toward left movement, the volume of realizing the no push rod chamber of left power hydraulic cylinder 5 diminishes, it is big that the volume in the no push rod chamber of right power hydraulic cylinder 11 becomes, left side power hydraulic cylinder 5 will promote the no push rod chamber that hydraulic oil flows to the driving hydraulic cylinder of left clamping device, piston rod is stretched out, by left and right sides drive link, left and right sides gear, about clamp connecting rod transmission realize the clamping of left clamping device 1, the push rod chamber volume compression of the driving hydraulic cylinder of left clamping device simultaneously, hydraulic oil in the chamber is pressed into the push rod chamber of the driving hydraulic cylinder 13 of right clamping device, make piston rod 12 withdrawals, by left and right sides drive link, about close gear, about clamp connecting rod transmission realize the release of right clamping device.Hydraulic oil in the driving hydraulic cylinder 13 no push rod chambeies of right clamping device is forced in the no push rod cavity of right power hydraulic cylinder 11, realizes automatic repairing, thereby realizes clamping and release to cable.
The utility model answers electricity consumption liquid combination drive technology to realize 2 clamping devices of single driven by servomotor, flow to the driving hydraulic cylinder of clamping device by the hydraulic oil in the servomotor assembly driving leading screw screw assembly generation rectilinear motion propulsion power hydraulic pressure cylinder assembly, make the driving hydraulic cylinder produce corresponding linear telescopic motion, stretching motion is converted to the clamping of anchor clamps and unclamps motion by the pair of engaged gears assembly on the clamping device, the clamping that promptly to be transmission medium with hydraulic oil be converted into 2 clamping devices with rotatablely moving of the servomotor of power generating apparatus with unclamp action, realize trolley wire climbing robot in the process of walking the both arms clamping device replace clamping and discharge cable 19.
Shown in Fig. 2,3,4, be respectively three kinds of states of the present utility model: left clamping device clamping, right clamping device release conditions; Left side clamping device meta, right clamping device meta state; Left side clamping device discharges, right clamping device clamp position.
Fig. 5 is the structural representation that adds sensor on driving hydraulic cylinder of the present utility model, as shown in Figure 5, can on basis of the present utility model, increase corresponding sensor and implement closed-loop control, add pressure sensor 25 on the hydraulic cylinder as driving at each, pressure sensor 25 is connected with control system, can the clamping force of clamping device be detected, and can realize closed-loop control clamping force.
Embodiment 2:
Fig. 6 is the structural representation of the utility model embodiment 2, as shown in Figure 6, the present embodiment overall structure is identical with embodiment 1, different is the combination of the power generating apparatus 2 ' of this embodiment for servomotor assembly and two-way constant displacement pump, the output shaft of servomotor assembly connects two-way constant displacement pump, and two outlets of two-way constant displacement pump connect the no push rod chamber of the driving hydraulic cylinder of left and right clamping device respectively.By two-way constant displacement pump the rotation of servomotor is converted into flowing of hydraulic oil, finishes clamping and release movement thereby drive clamping device, its operation principle is identical with embodiment 1.
The foregoing description does not limit the utility model in any form, and all employings are equal to the technical scheme that mode obtained of replacement or equivalent transformation, all drop in the protection domain of the present utility model.

Claims (4)

1. trolley wire climbing robot clamping device, comprise left clamping device, right clamping device and power generating apparatus, it is characterized in that described left clamping device is identical with right clamping device structure, comprise the driving hydraulic cylinder respectively, piston rod and left anchor clamps, right anchor clamps, left side drive link is hinged on and drives on the hydraulic cylinder, right drive link is hinged on the piston rod, the other end of left side drive link and right drive link is connected in respectively on left gear and the right gear, left gear and right gear are meshed, on left gear and right gear, also be fixed with a left side respectively and clamp connecting rod and the right connecting rod that clamps, left side anchor clamps and right anchor clamps are hinged on left side clamping connecting rod and the right end that clamps connecting rod respectively, and are connected left side clamping connecting rod and right the clamping on the connecting rod by the anchor clamps fixing spring respectively; Described power generating apparatus connects the no push rod chamber of driving hydraulic cylinder of the left and right clamping device of left clamping device respectively, and the push rod chamber of the driving hydraulic cylinder of left and right clamping device is connected.
2. trolley wire climbing robot clamping device according to claim 1, it is characterized in that described power generating apparatus comprises servomotor assembly, leading screw, screw, push rod, left power hydraulic cylinder, left piston, right power hydraulic cylinder and right piston, the output shaft of servomotor assembly is connected with leading screw, nut sleeve is on leading screw, cooperate with leading screw, push rod is connected on the screw, and the two ends of push rod connect be connected left piston and right piston respectively; Left and right dynamicliquid pressure cylinder structure is identical, fixing between the mutual alignment, axis coinciding, the cylinder body direction is relative, the no push rod chamber of left side power hydraulic cylinder links to each other with the no push rod chamber of the driving hydraulic cylinder of left clamping device, and the no push rod chamber of right power hydraulic cylinder links to each other with the no push rod chamber of the driving hydraulic cylinder of right clamping device.
3. trolley wire climbing robot clamping device according to claim 1, it is characterized in that described power generating apparatus comprises servomotor assembly, two-way constant displacement pump, the output shaft of servomotor assembly connects two-way constant displacement pump, and two outlets of two-way constant displacement pump connect the no push rod chamber of the driving hydraulic cylinder of left and right clamping device respectively.
4. according to each described trolley wire climbing robot clamping device in the claim 1 to 3, it is characterized in that being provided with pressure sensor on the driving hydraulic cylinder of described left and right clamping device, pressure sensor is connected with control system.
CN2009202305973U 2009-08-24 2009-08-24 Overhead cable climbing robot clamping mechanism Expired - Lifetime CN201493852U (en)

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Application Number Priority Date Filing Date Title
CN2009202305973U CN201493852U (en) 2009-08-24 2009-08-24 Overhead cable climbing robot clamping mechanism

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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101554891B (en) * 2009-05-08 2011-12-21 昆山市工业技术研究院有限责任公司 Trolley wire climbing robot clamping device
CN103560444A (en) * 2013-10-29 2014-02-05 国家电网公司 Upper-air controllable non-electric intense-magnetic junction device
CN105690411A (en) * 2016-02-18 2016-06-22 陆玉正 Pressure-controllable soft-body manipulator device
CN107186740A (en) * 2017-06-23 2017-09-22 天津市双象工程液压件有限责任公司 A kind of cylinder barrel gear type manipulator
CN109607308A (en) * 2018-11-12 2019-04-12 芜湖顺成电子有限公司 A kind of collating unit of electric wire
CN110148912A (en) * 2019-07-01 2019-08-20 曾剑成 The multi-thread cable storing apparatus of different size is applicable in beaming type based on clockwork spring characteristic

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101554891B (en) * 2009-05-08 2011-12-21 昆山市工业技术研究院有限责任公司 Trolley wire climbing robot clamping device
CN103560444A (en) * 2013-10-29 2014-02-05 国家电网公司 Upper-air controllable non-electric intense-magnetic junction device
CN103560444B (en) * 2013-10-29 2016-06-01 国家电网公司 Upper-air controllable non-electric intense-magnetic junction device
CN105690411A (en) * 2016-02-18 2016-06-22 陆玉正 Pressure-controllable soft-body manipulator device
CN107186740A (en) * 2017-06-23 2017-09-22 天津市双象工程液压件有限责任公司 A kind of cylinder barrel gear type manipulator
CN107186740B (en) * 2017-06-23 2023-07-25 佛山市液泰液压机械有限公司 Gear type manipulator for cylinder barrel
CN109607308A (en) * 2018-11-12 2019-04-12 芜湖顺成电子有限公司 A kind of collating unit of electric wire
CN110148912A (en) * 2019-07-01 2019-08-20 曾剑成 The multi-thread cable storing apparatus of different size is applicable in beaming type based on clockwork spring characteristic
CN110148912B (en) * 2019-07-01 2020-06-30 绍兴市寅川软件开发有限公司 Multi-cable accommodating device based on spring characteristic and suitable for different specifications in bundling mode

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GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20100602

Effective date of abandoning: 20090824